US20120111087A1 - Compensation of measuring errors in handling equipment - Google Patents

Compensation of measuring errors in handling equipment Download PDF

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Publication number
US20120111087A1
US20120111087A1 US13/287,538 US201113287538A US2012111087A1 US 20120111087 A1 US20120111087 A1 US 20120111087A1 US 201113287538 A US201113287538 A US 201113287538A US 2012111087 A1 US2012111087 A1 US 2012111087A1
Authority
US
United States
Prior art keywords
lever mechanism
handling
handling equipment
support cables
forces
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US13/287,538
Other languages
English (en)
Inventor
Hartmut Fürniss
Drazen Rot
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tecsis GmbH
Original Assignee
Tecsis GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tecsis GmbH filed Critical Tecsis GmbH
Assigned to TECSIS GMBH reassignment TECSIS GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FURNISS, HARTMUT, ROT, DRAZEN
Publication of US20120111087A1 publication Critical patent/US20120111087A1/en
Priority to US14/138,085 priority Critical patent/US20140124718A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency

Definitions

  • the invention concerns a method for compensating measuring errors for handling equipment comprising a drive carrier that is comprised of a carrier part and driven drums for moving the steel cables arranged thereon and comprising a handling receptacle in which the handling receptacle is suitable for picking up loads and is connected to the carrier part by means of deflection pulleys via the support cables and comprising a controllable lever mechanism that is connected to at least two support cables and with at least two force sensors that capture the forces of at least two support cables and comprising a monitoring device that monitors the forces of at least two force sensors.
  • an adjustment angle of the controllable lever mechanism is captured by a sensor and in that a correction of the cable forces based on the captured adjustment angle is carried out in the monitoring device.
  • the cable forces in two of four cables are monitored, for example, the lever angle is determined with the help of an angle sensor and calculated based on the characteristic lines of the errors.
  • the cable forces are monitored continuously.
  • the corrected cable forces are converted to a weight that corresponds to the load that is attached to the handling receptacle.
  • the force sensors that are in the form of pins evaluate the forces of the support cables attached in a loop.
  • the cable forces of the support cables are determined for a zero position of the lever mechanism and for at least two additional different deflections of the lever mechanism in a previous step and then are used for correcting the cable forces in the monitoring device.
  • the method according to an aspect of the invention can easily be used in a multitude of different handling equipment since the design-based information required for the compensation for the respective type of handling equipment can easily be determined with a simple experiment.
  • the accuracy of the measuring error compensation can further be improved by determining, in a preceding step, the cable forces of the support cables for the zero position of the lever mechanism and for the at least two additional different deflections of the lever mechanism using a defined load on the handling receptacle as well as an empty handling receptacle.
  • correction functions are generated arithmetically based on the cable forces determined in the preceding step and are saved in the monitoring device with the correction functions allowing for a corrected load calculation for the handling receptacle for each adjustment angle of the lever mechanism.
  • the data required for compensation can be determined especially inexpensively by controlling the determination of the values for the monitoring device using a control device or a computer that can be connected to the monitoring device. In doing so the functions or components, respectively, required for determining the necessary data do not need to be in the monitoring device but rather can be maintained in a separate control device that can be connected to the monitoring device.
  • the invention also concerns handling equipment with a drive carrier that is comprised of a carrier part and driven drums for moving the steel cables arranged thereon and comprising a handling receptacle in which the handling receptacle is suitable for picking up loads and is connected to the carrier part by means of deflection pulleys via the support cables and comprising a controllable lever mechanism that is connected to at least two support cables and with at least two force sensors that capture the forces of at least two support cables and comprising a monitoring device that monitors the forces of the at least two force sensors.
  • the handling equipment comprises a compensation device whereby sensors capture the adjustment angle of the controllable lever mechanism and a correction to the cable forces is made in the monitoring device based on the determined adjustment angle.
  • the compensation of a measuring error can be achieved particularly inexpensively in that the sensors are comprised of angle measuring sensors.
  • angle measuring sensors are fastened in a fixed manner to an adjustment lever of the lever mechanism. This allows for an especially simple assembly of the angle measuring sensors.
  • the force sensors advantageously are fastened to a lever of the lever mechanism for monitoring the support cables.
  • the handling receptacle can be turned relative to the carrier part by adjusting the lever mechanism.
  • At least two support cables are fastened to the lever mechanism on different sides in relation to a pivot point.
  • At least two support cables advantageously are fastened to the lever mechanism, each at the same distance in relation to a pivot point.
  • the handling equipment In order to increase the radius of action of the handling equipment, the handling equipment is arranged on wheels in a mobile and steerable manner.
  • the handling receptacle in accordance with an aspect of the invention, comprises a four-point fastening system for accommodating a container.
  • the handling equipment is a component of a container load crane on tracks.
  • FIG. 1 is a schematic end view of a compensation device according to an aspect of the invention
  • FIG. 2 is a schematic end view of a compensation device according to an aspect of the invention.
  • FIG. 3 is a schematic top view of a compensation device according to an aspect of the invention.
  • FIG. 4 is a schematic view of a portion of a compensation device according to an aspect of the invention.
  • FIG. 5 is a schematic view of wiring for a compensation device according to an aspect of the invention.
  • FIG. 6 is a graph of load change versus angle
  • FIG. 7 is a graph of saved correction functions
  • FIG. 8 is a graph of spreader load versus angle
  • FIGS. 9 and 10 show how software is used to automatically calibrate.
  • FIG. 5 shows an example of how the cables run.
  • Configuration software is used for setting up the control or monitoring device, respectively.
  • the calibration routine contained in this software was expanded by an automatic multi-teach-in method. Apart from entering the test weight, all parameters are automatically captured and calculated in this method.
  • the crane is placed in the starting position. First, the empty spreader is lifted and the tare weight is determined using an interface. Then a test weight is lifted. To this end the operator enters the load value of the test weight into an input field and activates a calibration interface. During the subsequent calibration process all values (load and angle) are determined automatically and from this the parameters for the characteristic line are saved.
  • an angle transducer is analyzed and the current position of the crane within the slew range is determined. Depending on the position, the respective data record is loaded and used for recalculating the characteristic line in relation to the angle position. The newly calculated characteristic line then is used for correcting the load values.
  • the diagram shown in FIG. 7 shows a presentation of the correction functions that are saved.
  • L 1 and L 2 are for current individual load values and A 1 is for the current angle value.
  • the respective parameters for incline, offset and tare are used for the calculation.
  • B — w ⁇ (( B max b 0)*( A max A 1)/( A max A 0)+ B max
  • the calibration parameters for the total load value also are used to correct the individual load values:
  • L 1corr L 1 *M — w +( B — w /number of signals) ⁇ (tare — w /number of signals)
  • the analog inputs for example load signals (A, B, and C) and the angle transducer (D) are configured.
  • the angle can be entered in a range between ⁇ 360 to +360 degrees and from 4 to 20 mA.
  • the sums are calibrated ( FIG. 10 ).
  • the crane first is placed in the starting position A 0 .
  • the empty hook (spreader) is lifted and the current dead weight is determined (tare weight).
  • a test weight (approx. 3 ⁇ 4 of the maximum weight) is attached and the range for A 0 is calibrated.
  • the order of the angle positions is random and does not need to be followed.
  • the parameters for incline, offset as well as the tare value for each angle position (Amin, A 0 and Amax) are obtained. This means that overall six parameters for further interpolation of the load values are available.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
US13/287,538 2010-11-09 2011-11-02 Compensation of measuring errors in handling equipment Abandoned US20120111087A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US14/138,085 US20140124718A1 (en) 2010-11-09 2013-12-22 Compensation of measuring errors in handling equipment

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202010015180U DE202010015180U1 (de) 2010-11-09 2010-11-09 Kompensation von Messfehlern bei Hebegeräten
DE202010015180.5 2010-11-09

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US14/138,085 Continuation US20140124718A1 (en) 2010-11-09 2013-12-22 Compensation of measuring errors in handling equipment

Publications (1)

Publication Number Publication Date
US20120111087A1 true US20120111087A1 (en) 2012-05-10

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US13/287,538 Abandoned US20120111087A1 (en) 2010-11-09 2011-11-02 Compensation of measuring errors in handling equipment
US14/138,085 Abandoned US20140124718A1 (en) 2010-11-09 2013-12-22 Compensation of measuring errors in handling equipment

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Application Number Title Priority Date Filing Date
US14/138,085 Abandoned US20140124718A1 (en) 2010-11-09 2013-12-22 Compensation of measuring errors in handling equipment

Country Status (3)

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US (2) US20120111087A1 (zh)
CN (1) CN102556851B (zh)
DE (2) DE202010015180U1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017117564A1 (de) * 2017-08-02 2019-02-07 Cartesy Gmbh Vorrichtung zum Kalibrieren eines Bolzens
CN109987521B (zh) * 2019-04-18 2020-05-08 上海振华重工(集团)股份有限公司 用于小车集装箱门式起重机的重量传感器补偿方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3631537A (en) * 1970-01-26 1971-12-28 Harnischfeger Corp Calibration circuit for boom crane load safety device

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL7101224A (zh) * 1971-01-29 1972-08-01
IT1143860B (it) 1977-11-23 1986-10-22 Genovesi Cost Mecc Ind Spa Dispositivo per la rotazione di contenitori
DE19519741A1 (de) 1995-06-02 1996-12-05 Siemens Ag Sensorik für einen Kran, insbesondere einen schienengebundenen Stapelkran oder Brückenkran
JP2001322796A (ja) * 2000-05-15 2001-11-20 Mitsubishi Heavy Ind Ltd 吊荷の制振装置
FI117969B (fi) * 2004-09-01 2007-05-15 Kalmar Ind Oy Ab Laitteisto ja menetelmä kontin kiertoheilahdusliikkeen pysäyttämiseksi
CN101233070B (zh) * 2005-06-28 2012-09-26 Abb公司 货物控制装置及其用途、控制集装箱起重机悬置货物的系统及其方法
DE102006003832B4 (de) * 2006-01-26 2008-10-16 Bubenzer Bremsen Gerhard Bubenzer Ing. Gmbh Steuer- und Regelanordnung zur Sicherung einer Fördereinrichtung, Fördereinrichtung und Krananlage

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3631537A (en) * 1970-01-26 1971-12-28 Harnischfeger Corp Calibration circuit for boom crane load safety device

Also Published As

Publication number Publication date
CN102556851A (zh) 2012-07-11
DE102011055040B4 (de) 2018-08-02
DE102011055040A1 (de) 2012-05-10
CN102556851B (zh) 2016-07-06
DE202010015180U1 (de) 2012-03-01
US20140124718A1 (en) 2014-05-08

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Date Code Title Description
AS Assignment

Owner name: TECSIS GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:FURNISS, HARTMUT;ROT, DRAZEN;REEL/FRAME:027535/0640

Effective date: 20120109

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION